EP2605200A1 - Methode pour la planification d'une chaîne des tâches agricoles - Google Patents

Methode pour la planification d'une chaîne des tâches agricoles Download PDF

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Publication number
EP2605200A1
EP2605200A1 EP12184631.5A EP12184631A EP2605200A1 EP 2605200 A1 EP2605200 A1 EP 2605200A1 EP 12184631 A EP12184631 A EP 12184631A EP 2605200 A1 EP2605200 A1 EP 2605200A1
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EP
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Prior art keywords
chains
process chains
resource
chain
planning
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German (de)
English (en)
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Hans-Peter Grothaus
Jochen Huster
Max Reinecke
Thilo Steckel
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Claas Selbstfahrende Erntemaschinen GmbH
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Claas Selbstfahrende Erntemaschinen GmbH
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling

Definitions

  • the invention relates to a method for planning a process chain for an agricultural labor input and an arrangement for carrying out the method.
  • a harvesting operation is understood as a harvesting operation in which a field surface is harvested and the crop is transported to a warehouse or silo.
  • An agricultural labor input can be, for example, the spreading of fertilizer or seed on a field surface.
  • a process chain for such an agricultural labor input works with a first resource pool of a first kind of agricultural machinery.
  • the machines of the first resource unit are preferably of the type harvesting machine, in particular self-propelled harvesting machines, for example combine harvesters or forage harvesters.
  • the machines of the first resource allotment can also be, for example, fertilizer or seed-discharging machines or combinations of tractors or attachments.
  • the machines of the second resource pool are preferably of the type of so-called service machines which support the machines of the first resource pool.
  • Such service machines can be, for example, transport vehicles, such as transfer vehicles for transporting the crop or road transport vehicles or vehicles with a reservoir for, for example, fertilizer or seed for replenishing fertilizer or seed-yielding machines of the first resource universe.
  • one, in particular the second or, if applicable, a third or further resource can also include immobile or semi-mobile resources such as silos, storage areas or containers.
  • first resource unit For processing large field surfaces, it is customary to use a plurality of machines of both the first resource unit and the second resource unit or also a third or more resource units.
  • first resource entirety When harvesting a field, for example, several combine harvesters (first resource entirety) are used, the grain tanks are refueled several times during the harvesting operation of transfer vehicles (second resource entirety) and the transfer vehicles deliver the crop to road transport vehicles (third resource entirety), for example, the crop in a warehouse or silo (fourth resource).
  • the DE 10 2004 027 242 A1 relates to a route planning system for agricultural machines, wherein the agricultural machine is assigned a defined working width and a working route that takes into account this working width is planned, which can be adapted to changing external conditions, such as driving around obstacles.
  • the EP 1 633 105 A1 discloses a system for obtaining information, in particular situational process and planning data, for processing processes by an agricultural work machine.
  • the DE 10 2006 044 730 A1 describes a method for controlling and monitoring a process chain stored in a memory, in which the entire process chain to be controlled and monitored is displayed on a display device, for example by an agricultural machine, so that a user can keep track of the entire process chain and the process control and monitor.
  • the DE 10 2006 015 204 A1 describes a method for creating a route plan for a group of agricultural machine systems, wherein the cooperation of the machine systems can be used to create a route plan for a territory to be processed.
  • the DE 10 2008 021 785 A1 relates to a method and an apparatus for coordinating a processing operation of an agricultural area, which creates a route planning for a plurality of vehicles, at least one processing vehicle and at least one transport vehicle.
  • the EP 2 146 307 A2 describes a method for coordinating a plurality of mobile agricultural machines that share at least one resource and allows all machines to operate at maximum capacity.
  • the WO 2011/104085 A1 describes a method for monitoring and coordinating harvesting processes in which the fill levels and fill rates of grain tanks are determined by harvesters and, based thereon, scheduling operations are scheduled to achieve a predetermined grain tank capacity.
  • the DE 10 2008 050 460 A1 describes a method for controlling an application of mobile agricultural machines on a surface with several steps, wherein in the following planning steps in each case definitions of the previous step are refined and in case of a significant deviation from the stipulations made during the use of at least one of the planning sections is repeated.
  • the invention is based, inter alia, on the recognition that disadvantages can arise in the planning or sub-optimal planning results due to a hierarchical structure of the existing planning methods.
  • the subsequent steps are refined in each case in the following steps, or further determinations are made on this basis. If a subsequent step does not provide a solution or boundary conditions have changed, the planning can be redone from a certain step - again hierarchically. Nevertheless, hierarchical planning methods often result in suboptimal overall process chains, for example with waiting times, increased wear or fuel consumption, so that overall the productivity of the process chain can also be improved.
  • the invention is based on the finding that the definition in a preceding step in subsequent steps precludes a large number of possible solutions of this subsequent plating step.
  • this exclusion can be based on a number of factors or conditions: for the interaction of agricultural machines of the same but especially different types, there are technical relationships that make certain combinations impossible. For example, for a Abtankvorgang the harvester and the Kochladehus for a certain period of time at the same speed parallel to each other at close range.
  • the method thus makes it possible, considering the technical and (field) geometric boundary conditions, to consider several solutions, in particular in subsequent planning steps, and thus to arrive at a better coordinated overall process chain.
  • the solution provides that initially on a static pre-planning is built. This includes at least the determination of how many machines of which kind are to be used, which depends on the surface to be processed, on the period of use, that is, the time available for use, and on the nature of the labor input.
  • a hierarchical planning as in existing planning methods is abandoned and instead a solution space is determined; with a plurality of different possible overall process chains, which are composed of first and second - and possibly third and further - sub-process chains.
  • the method makes no determination for a single solution for the machines of the first resource unit, but determines a plurality of possible first partial process chains. For example, if the first resource pool is harvesters, then a plurality of possible thread chains are first determined for these harvesters.
  • the specifications or input variables under which this plurality of first sub-process chains is determined relate, for example, to the field geometry (outer field boundaries, obstacles in the field or on access paths, location and nature of access paths and field access points, soil properties, requirements for soil conservation / compaction, drill direction, Crop characteristics etc.), technical frame data (machine parameters of the machines used), external information (for example weather data) or sensor data of the resources (for example the respective position of the machines, crop properties).
  • These specifications or input variables are also used in particular to ensure that no solutions are generated, for example due to technical conditions of the machine or the field and Zuffahrtswegegeometrie are not feasible.
  • a first sub-process chain based on these specifications contains in particular linked lanes for each machine, specifications for the time-dependent position of the machines. Also, information on the time-place points for required interactions with other machines, in particular another resource universe, are preferably determined, for example positions of the transfer windows that have to be reached by a transfer vehicle for loading a harvesting vehicle.
  • a search graph can be generated in which a preferred direction is generated on the basis of heuristics.
  • first a plurality of alternative first partial process chains for the first resource universe is created.
  • the determination of the plurality of alternative first partial process chains for the first resource aggregate can also be referred to as the solution of a first optimization problem.
  • At least one second partial process chain for the second resource pool is then determined for each of the determined alternative first partial process chains.
  • the means a timed path for the truck is determined.
  • Input variables for this step of determining the second partial processes are preferably the one of the solution space of the first optimization problem, that is, the majority of the alternative first partial process chains, as well as the field geometry information already used for the first optimization problem (outer field boundaries, obstacles in the field or on Access routes, location and nature of access routes and access points, soil properties, requirements for soil conservation / compaction, drill direction, etc.).
  • the field geometry information already used for the first optimization problem outer field boundaries, obstacles in the field or on Access routes, location and nature of access routes and access points, soil properties, requirements for soil conservation / compaction, drill direction, etc.
  • the field geometry information already used for the first optimization problem outer field boundaries, obstacles in the field or on Access routes, location and nature of access routes and access points, soil properties, requirements for soil conservation / compaction, drill direction, etc.
  • the field geometry information already used for the first optimization problem outer field boundaries, obstacles in the field or on Access routes, location and nature of access routes and access points, soil properties, requirements for soil conservation / compaction
  • each of the alternative first sub-process chains with the respectively associated second sub-process chain thus results in a plurality of overall process chains.
  • This plurality of overall process chains contain solutions that would not have been determined in a hierarchical planning, for example because they are based on a first sub-process chain that performs worse under a certain criterion than, for example, another first sub-process chain.
  • respective second (and possibly third or further) process chains are determined and combined into overall process chains.
  • an overall process chain comprising a less advantageous first subprocess chain and an advantageous second subprocess chain overall can provide a better solution than the combination of an advantageous first subprocess chain and a less advantageous second subprocess chain (because, for example, the advantageous second subprocess chain is not possible for the advantageous first subprocess chain ).
  • one of the overall process chains is subsequently selected.
  • the entire process chain or a part of it relevant to a respective machine or corresponding information is transmitted to the machines of the first and / or second resource unit.
  • the method illustrated here thus links three planning methods, namely a static preliminary planning, a planning of the first resource unit and a planning of the second resource unit.
  • the steps based on the static preliminary planning preferably take place at the time of execution, that is to say during the work assignment. This has the advantage that the current situation and the resulting boundary conditions at the time of the work assignment can be taken into account in the planning.
  • Another important advantage of the method is to be able to determine an overall process chain for complex agricultural applications, which has been optimized according to one or preferably several criteria. For example, it is particularly advantageous to determine the overall most cost-effective process chain resulting from the sub-process chains mentioned. In this way, the overall efficiency of the process chain for agricultural labor input can be increased.
  • the method also realizes the advantages mentioned above when not only second sub-process chains but also third or more sub-process chains are determined in further steps for third or further resource populations.
  • a plurality of alternative subprocess chains of the following step are also determined in the second, third or further subprocess chains for each of the alternative subprocess chains of the preceding step.
  • a coordinated filling quantity between the vehicle and the road transport vehicle can result in a minimization of the overload times, since the road transport vehicle has to be approached only once for complete filling.
  • this coordinated filling quantity must already be taken into account when loading the transfer vehicle by the combine harvester. It is therefore preferred that as input variables for determining the respective subprocess chain, technical conditions or advantageous parameters of the subsequent resource populations are also taken into account, such as, for example, the filling quantities of the transport vehicles to be achieved.
  • a resource population contains immobile or semi-mobile resources
  • motion determination is not created when determining sub-process chains, but for the respective resource type determines suitable results, which in turn can influence other sub-process chains, in particular other resource populations.
  • the number, location, accessibility and acceptance capacity of silos or warehouses can influence the movement planning of the transport vehicles or can be filled differently, for example due to fill level forecasts silos or warehouses.
  • the preferred method also has the advantage that it requires only lower computing power and computing time, in particular also in the training forms described below, since it is particularly suitable for use in agricultural machines, in particular harvesting machines for use and planning on the current process got to.
  • each of the alternative first partial process chains contains motion parameters, such as preferably travel speed and / or steering movements, for the machines of the first resource unit, and / or each of the second partial task chains for the second resource unit movement parameters, such as preferably vehicle speed and / or Steering movements involving machines of the second resource universe.
  • the results of the first and / or second sub-process chains contain not only the interlinked lanes and certain local-time points to be reached, such as rendezvous positions for harvesting between harvesting vehicle and transhipment vehicle, but also movement parameters for the respective machines, in particular driving speed and / or steering movements.
  • certain local-time points to be reached such as rendezvous positions for harvesting between harvesting vehicle and transhipment vehicle
  • movement parameters for the respective machines in particular driving speed and / or steering movements.
  • movement parameters such as driving speeds and / or steering movements, which are required to reach a certain position at a specific time and at the same time fuel consumption and / or fuel consumption, can be specified for the routes to be covered, in particular also for partial sections Wear of the machine and / or unwanted soil compaction or other undesirable side effects to reduce.
  • the specification of different movement parameters for partial sections is particularly preferred if the conditions differ on different sections, for example if these are to be covered on different ground.
  • the determination of motion parameters, even for partial sections, is particularly advantageous when during the ongoing agricultural work a reshaping takes place, for example due to changing boundary conditions, such as occurring obstacles in the field or on the access roads, unexpected weather changes, Machine stops due to disturbances in the work process (for example due to stones in the field or due to a clogged cutting unit) or maintenance work.
  • the new or rescheduling usually change the advantageous motion parameters.
  • the determination of changed movement parameters makes it possible to arrive at a more advantageous overall process.
  • the first and / or second partial process chains also contain interaction parameters, such as, for example, overcharge quantities or fill levels or fill level ranges. This is particularly preferred, for example, if the Abtankzeitn and Tozutankenden quantities is determined against the background of the maximum filling capacity of the road transport vehicles.
  • the method can be developed by taking into account technical framework conditions of individual machines, such as possible steering angle settings as a function of the speed, and / or interaction conditions between the resource populations when determining the first and / or second sub-process chains, in particular the motion parameters.
  • relevant machine parameters are considered for the planning of the respective sub-process chains, such as kinematic and dynamic boundary conditions. This is done in particular with the aim of generating no technically feasible solutions, in particular for the planning of the motion parameters, such as driving speed and / or steering movements, preferably machine parameters, such as possible steering angle settings depending on the vehicle speed, or permissible operating conditions are taken into account.
  • the method can be developed by occupying the first and / or second sub-process chains and / or the entire process chains with values in a plurality of, preferably weighted, criteria.
  • This further embodiment provides that several criteria are taken into account, which illustrate how preferred a solution is from various points of view.
  • multi-criteria planning becomes possible, which leads to improved planning results compared to existing methods which use only one (optimization) criterion, which are in particular closer to the overall productivity optimum.
  • the first and / or second partial process chains and / or the entire process chains are assigned respective values in the different criteria, which preferably indicate whether a criterion is fulfilled well or less well. Since the different criteria may have different meanings, these criteria are preferably weighted. In particular, it is preferable to be able to weight the criteria on a user-specific basis since different weightings may be required for different, user-specific application contexts.
  • Preferred criteria may be, for example: downtime, capacity utilization, wear (for example due to travel directions transverse to the drill direction or on an unfavorable surface), fuel consumption, required time, distance, soil compaction, inventory destruction (for example by traversing the stock with a transfer vehicle), Korntankrachlltags, number of necessary Abtankvor réelle or transport journeys, yield quantity, crop quality (for example, losses, silo seal), load losses.
  • the weighting of the criteria can also be changed during runtime, that is during use, and thus to new or changed results lead, in particular, if a new or rescheduling takes place in the current process.
  • the method can be developed by converting all values to a common comparison scale and forming a total value, preferably by adding the converted values and, if necessary, by multiplying by weighting factors of the criteria for each first and / or every second and / or every overall process chain becomes.
  • the values in the various criteria be converted into cost values by means of cost functions. These are, for example, costs per liter of fuel and machine hourly rates. A possible weighting of the criteria can be done by multiplying the cost values by the weighting factor.
  • the respective cost functions for the various criteria are preferably also specifications or input variables for determining the first and / or second sub-process chains and / or the entire process chains, so that the results of the respective determination steps preferably also contain values converted into costs.
  • a total cost over all criteria is preferably determined by adding the individual values possibly weighted by multiplication with weighting factors in the various criteria.
  • the total cost values of the first and respectively associated second partial process chains are added to a total cost value of the respective overall process chain.
  • the optimum of a single resource does not determine the execution of the work process, such as the maximum utilization of the highest hourly machine. Rather, a multicriteria planning of the process and a multi-criteria evaluation of the planning result are possible. For example, with a corresponding weighting of the criteria, a chaff chain would no longer be aligned with the forage harvester being always busy (singular criterion: maximum utilization of the most expensive resource), but because the compaction in the silo takes place optimally taking into account the costs incurred (multi-criteria objective: good silo seal at low total cost). Another example is the achievement of low overall process costs with a low total process time and defined crop quality, for example, including the costs of transporting the crop to the silo instead of considering the standstill times of the combine harvester alone.
  • the method may be developed by selecting one of the overall process chains to include a comparison of the total values of the overall process chains.
  • a comparison of the total values of the overall process chains makes it possible to select an overall process chain that represents the best solution considering several criteria.
  • an overall process chain can be selected near the productivity optimum.
  • the invention can be developed by reducing the time required to determine the first partial process chains and / or the second partial process chains by using preferred solution patterns.
  • the time required for determining the sub-process chains is preferably reduced by certain procedures, such as resorting to rules well-established in the art, or "rule of thumb".
  • rules well-established in the art or "rule of thumb”.
  • the step of determining the, preferably first, sub-process chains it is possible, for example when it comes to harvesting vehicles, to use proven or theoretically pre-planned departure patterns for specific field surfaces in the past become. The division of large fields into several faces can lead to a faster solution.
  • proven rules or estimates can also be used in practice to reduce the cost of costing for the sub-process chains.
  • An example of a possible rule is that the combine harvester should drive as much as possible in a bandage, that is, if possible, do not exceed a certain maximum distance from one another (exceptions are possible, for example, for gating) so that the transhipment vehicle does not have to travel long distances between the combine harvesters.
  • Another example is a method of so-called working width adjustment in which the lanes are planned so that narrower strips are harvested (at least in subsections of the field) (for example, with 85% minimum working width of a harvester). This can avoid that due to the field geometry at the end of a narrow residual strip inventory remains, whereby the working width of the harvester can not be fully utilized. The method of working width adjustment thus leads to a better utilization of the harvesting machines.
  • the method can be developed by reducing the quantity of the alternative first partial process chains, preferably according to predetermined filters.
  • a preferred way to reduce the time required for the planning is that the majority of the identified first partial process chains is reduced by excluding solutions that would, for example, lead to no valid or unfavorable solution of the second partial process chains.
  • the already determined first partial process chains are preferably checked for predetermined filters and then only first partial process chains with specific properties are taken into account as the basis for determining the second partial process chains.
  • An example of this is the examination of the result on the basis of a so-called overload corridor, whether it is a solution that can be met by the truck.
  • the Overload Corridor is the area of the field in which the last unloading operation of a combine harvester must take place before the transfer trolley leaves the field and refills there itself.
  • This overloading corridor is given by the geometry of the field and its access points and can be statically precalculated. This procedure makes it possible to exclude many solutions of the identified first sub-process chains without (computation-intensive) having to determine the associated second sub-process chains.
  • the method can be developed by using a method that can be aborted at any desired or predetermined point in time and supplies an optimization result determined up to this point in time in order to determine the first partial process chains and / or the second partial process chains.
  • the travel path planning of the transfer vehicles it is for example possible to select an algorithm that can be interrupted at any time and outputs the calculated optimum up to this point (so-called anytime algorithm).
  • the preferred method offers the possibility of optimizing the separate steps of determining the first and second sub-process chains separately from their time taken for execution: since the first and second sub-process chains can be sub-process chains for different resource populations , depending on their technical characteristics and framework conditions for the determination of the sub-process chains, different possibilities for reducing the time for performing this step can be selected.
  • the preferred method thus makes it possible to simultaneously realize the contradictory goals of a more precise planning on the one hand, and of a faster adaptation of the planning in the current process, that is to say realization of a shorter time duration for carrying out the planning.
  • the method can be developed by continuously repeating the steps of determining the first and second subprocess chains, combining them, and selecting an overall process chain during use, wherein preferably the time for performing the steps is less than 1 minute, in particular less than 10 seconds.
  • the steps based on the static preliminary planning of the determination of the first sub-process chains and the second sub-process chains, their combination into overall process chains and the selection of a preferred overall process chain for Execution time to be repeated regularly or, so that even if changes in the framework conditions or the actual conditions and positions of the machines at any time for the remaining work a - possibly under the changed conditions - optimized overall process chain is selected.
  • the duration for performing the determination of the first and second subprocess chains, their combination and the selection of an overall process chain is less than 1 minute, preferably even less than 10 seconds.
  • the results of the determined overall process chain or at least parts thereof, in particular the information relevant for a single machine, are preferably transmitted to the respective machines and used there to control the machine.
  • This control is preferably automatic, semi-automatic or manual.
  • the transmitted data may be used directly for machine control without operator intervention.
  • the data and possibly determined therefrom preferred machine parameters or movement parameters, such as driving speed and / or steering movements, can also be displayed to a user via a visual display or man-machine interface, so that the operator can control the machine accordingly.
  • the automatic control on a visual display or man-machine interface can also be displayed to an operator and he can intervene manually if he prefers a different control or, for example, he notices an unexpected obstacle.
  • the object is achieved by an arrangement for carrying out the method according to the invention, the arrangement comprising 1 to m external systems respectively a database and a program logic, 1 to n machine systems each with an on-board computer, a man-machine interface and a communication device, preferably a radio communication device, data connections, preferably wireless data connections, between the external systems and the machine systems, wherein the arrangement is designed to determine and execute an optimized overall process chain with a method according to one of the preceding claims.
  • the exemplary method described below may also be applied to other agricultural operations, such as harvesting a field with forage harvesters or, for example, spreading fertilizer or seeds in a field.
  • FIG. 1 The input variables, the implementation and the results of the process as well as the work input are shown schematically.
  • environmental information 2a for example field boundaries, crop properties
  • machine characteristics 2b for example installed power
  • external services 2c for example weather data
  • sensor data 2d for example position, crop properties
  • an overall process chain is selected by method 1 (which will be described in more detail below) and machine-relevant information 3 of this overall process chain to two combine harvester 4 a, 4 b of a first resource unit and to a transfer vehicle 5 of one transferred to the second resource universe.
  • the data acquired by these machines 4 a, 4 b, 5 can in turn be detected as sensor data 2 d and used as input data for the method 1 (for example, for a new or re-planning).
  • the method 1 not only takes into account optima G1, G2, G3 of individual resources, but also determines a multicriterially optimized overall process chain GO.
  • the method 1 can proceed, for example, as follows: First, in step 10, according to FIG. 2 a static pre-planning with determination of the number of machines used in the first and second resource universe, taking into account the period of use, type of use and to be processed field area. For example, for this static pre-planning, a procedure according to the first three steps described in paragraphs 22 to 35 of the DE 10 2008 050 460 A1 described method are used.
  • the further planning steps 20 determineation of a plurality of alternative first partial process chains for the first resource pool
  • 30 determineation of at least one second partial process chain for the second resource pool for each of the alternative partial process chains for the first resource pool
  • 40 Combine the alternative first sub-process chains for the first resource aggregate with the respectively associated at least one second sub-process chain for the second resource aggregate to a plurality of overall process chains
  • 50 selecting one of the overall process chains in the ongoing work assignment.
  • step 20 as in Fig. 2 and 3 shown, a plurality of first sub-process chains 21 determined.
  • step 30 a second subprocess chain 31 is combined for each of the first subprocess chains 21, which in step 40 are combined into overall process chains 41, from which an overall process chain 51 is selected in step 50.
  • the corresponding procedure is in Fig. 4 shown for three resource populations, where for a plurality of first sub-process chains 21a each turn a plurality (here two) second sub-process chains 31 a are determined and for each of the second sub-process chains 31 a then at least one third sub-process chain 31b is determined.
  • These first, second and third subprocess chains 21a, 31a, 31b are then combined into overall process chains 40a and an advantageous overall process chain 51a is selected.
  • the method 1 is an object of the method 1 to realize the motion planning 3 of several cooperating agricultural machines 4a, 4b, 5, which are coupled together by spatial and temporal constraints.
  • the solution found by the method 1 is preferably based on several different criteria.
  • the following input data are provided: geometry of the field to be processed (outer field boundary, obstacles, drill direction, field access points), number and type of participating vehicles (including relevant machine parameters, such as kinematic and dynamic boundary conditions, capacity, unloading capacity, working width and harvesting power), cost factors for criteria such as distance, time and fuel.
  • a search graph is preferably generated in which a preferred direction is generated on the basis of heuristics.
  • the result of O1 is preferably a search graph with a plurality of alternative first sub-process chains 21, which preferably each contain the following information: Chained lanes for each participating combine, as well as specifications for the time-dependent position of the combine, position of the transfer windows that must be reached by the transfer trailer Overloading crop quantity, movement parameters, such as preferably driving speed and / or steering movements, costs of the solution.
  • the following input data are preferably provided for the optimization problem 02 (motion planning of transfer vehicles): result of the O1 (majority of the first partial process chains), geometry of the field to be processed (surfaces processed at a specific time, outer field boundary, obstacles, drill direction, field access points), number and type of participating loaders (including relevant machine parameters, such as kinematic and dynamic constraints, capacity, unloading power), cost factors for criteria such as distance, time and fuel, acceptance capacity at the edge of the field.
  • the result of the O 2 can be, for example, a search graph with solutions which preferably each have the following values: Time-consuming paths for transfer vehicles, crop quantity to be loaded, movement parameters, such as preferably travel speed and / or steering movements, costs of the solution.
  • the respective first and associated second sub-process chains 21, 31 are combined into overall process chains 41, and preferably also the total cost values of the overall process chains 41 are formed.
  • the values in the criteria are converted by means of conversion functions to a comparison scale, preferably by means of cost functions in costs.
  • the weighting of the criteria can also be changed at runtime and thus lead to new or changed planning results.
  • a harvesting process is started with the goal of minimal costs.
  • a forecasted weather change will result in the field having to be harvested as quickly as possible during the process.
  • the criterion "time" is correspondingly higher prioritized and a new plan is created at the time of the process and the resources then follow this new plan.
  • the following preferred measures can be integrated to reduce the required computation time.
  • the necessity for using these methods depends on the complexity of the problem, the available computing time, due to the dynamics of the planning and the available computing capacity.
  • the planning method can also be used without these methods. It must be taken into account that the calculation may not achieve the optimum calculated by using the measures.
  • the search problem can be reduced, for example, by the use of field patterns that are customary in practice.
  • the problem can be divided by bedding into equivalent problems.
  • the overall method can preferably also be abbreviated by checking whether it is a first sub-process chain whose location-time points can be achieved for a replenishment of a transfer vehicle (so-called possible overloading corridor).
  • the overloading corridor is the area of the field in which the last unloading operation of a combine harvester should take place before the forklift truck leaves the field and refuels there itself. This overloading corridor is given by the geometry of the field and its access points and can be statically precalculated. This procedure makes it possible to exclude many first sub-process chains for which the second sub-process chains do not have to be computationally determined.
  • Fig. 5 1 shows an exemplary arrangement 100 for carrying out a method 1 according to the invention.
  • the illustrated system architecture 100 has technical means for implementation, which can be divided into means for information processing, in particular for planning, means for communication between the machines and external systems, means for accommodating the Environmental information and means for providing external information, providing master data and providing historical information.
  • the means for information processing and planning comprise a comprehensive planning system which, according to the method 1, taking into account the available information about, for example, process states, is to achieve the optimum or an optimized solution for the overall process.
  • This planning system is distributed among all participating machines (distributed system). Thereby, a different part of the planning can take place on each machine. For example, it is possible that a "master machine” exists, which creates a global, ie overall, plan for all machines with a rough level of detail. For example, lanes are roughly precalculated. On each individual machine, a specific detailed planning is carried out on the basis of the distributed and constantly updated rough planning. This determines, for example based on the roughly determined lanes, in detail the target distance that can be traveled by the steering.
  • Each machine 400a, 400b has at least one on-board computer 405a, 405b. This comprises at least one arithmetic unit, at least one memory unit and at least one interface to at least one communication unit 404a, 404b. These interfaces are connected to bus systems of the machine in order to obtain sensor data, to control a mechanical actuator 401 a, 401 b and to have connections to further control units 402a, 402b. Furthermore, wireless communication systems and human-machine interfaces 406a, 406b are connected via this like a monitor.
  • the means 404a, 404b for communication between the process participants and external systems are based on wireless data links (radio communication). Between the machines, this is due to the bandwidth and latencies but also due to the not always reliable in rural areas existing mobile networks such as GSM preferably Nahfunktechnologien such as WLAN used, but supportive mobile networks such as GSM can be used. Between machines 400a, 400b and external systems 700a, 700b, primarily mobile radio networks such as GSM are used due to the radio range.
  • a middleware 610 which handles the communication in the distributed system, is used as of a certain layer of the C7St so-called model, preferably as of layer 5 (session layer).
  • the Data Distribution Service (DDS) can be used for this.
  • the means for receiving the environmental information may be on the machines existing or retrofittable sensor elements 403a, 403b.
  • Such means may be, for example, GPS systems for positionalization or sensors for flow rate determination.
  • the means 700a, 700b for providing external information (external systems), for providing master data and for providing historical information are preferably database systems 701a, 701b which ensure persistence of data such as machine data or field data.
  • the information may also be generated by a system of program logic 701a, 702b at runtime from data from various other sources of information (for example, weather forecasts).
  • the systems that provide these information services are preferably achievable at runtime by the planning system via the existing communication means.

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EP4497309A1 (fr) * 2023-07-25 2025-01-29 CLAAS Selbstfahrende Erntemaschinen GmbH Système de planification d'itinéraire d'une chaîne de processus de récolte

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